Fig. 9
From: Research on the operational properties of the soft gripper pads
Object transfer experiments prerequisites: (A) the trajectory of the robot’s movement during the test procedure; (B) gripper sequence steps during motion, (C) an example of the course of the recorded value of the squeeze force during transportation, indicated phases: 1 - no contact, 2 - grasping with squeeze, 3 - lifting up an object, 4 - horizontal transportation, 5 - lowering the object, 6 - releasing the object, 7 - no contact; (D) objects used in the study.
